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Haynes was born in South Bend, Indiana, on 19 September 1934. He served in the Marine Corps from 1952 through 1964 and fought in the Korean War. He was also a public-affairs officer for the United States Navy Reserve, holding the rank of commander. [1]

Following his military service, Haynes studied acting at the Film Industries Workshop and Actors West in Los Angeles, California. [2] He married and divorced twice; his third marriage to Carolyn Inglis produced one child.

Haynes died of lung cancer in Coronado, California, on 31 December 1986. He was 52 years old. He is interred at Eternal Hills Memorial Park in Oceanside, California. [3]

Haynes began acting in television shows in 1965, making his first appearance in January 1966 on an episode of The Fugitive. That episode's director, Richard Donner, then cast Haynes in an episode of The F.B.I., a crime drama on which Stephen Brooks was a regular cast member. In the episode, "The Spy-Master", Haynes and TOS guest actor William Wintersole played two of three unnamed Special Agents. Also appearing in Haynes' episode of The F.B.I. were Whit Bissell and Keye Luke.

Haynes played the role of Lord Chancellor in two back-to-back episodes of Batman in March 1967, working alongside fellow TOS performers Lee Meriwether and Grace Lee Whitney. That same month, Haynes appeared on The Green Hornet in a two-part episode with Arthur Batanides. Haynes then made several appearances on the Tarzan series, working with James Gregory and William Marshall. Haynes again worked with James Gregory in a 1968 episode of Lancer.

From 1969 through 1974, Haynes starred as high school teacher Pete Dixon in the Emmy Award-winning comedy-drama series Room 222. Haynes himself received an Emmy Award nomination for his work on this series, as well as a Golden Globe nomination. In 2006, Haynes received a posthumous nomination from the TV Land Awards in the "Teacher of the Year" category for his role on Room 222. Several Star Trek alumni made appearances on Room 222, including Ed Begley, Jr., Teri Garr, and Jan Shutan.

In 1981, Haynes had a recurring role as Judge Horatio Quinlan on the prime-time soap opera Dynasty, which starred Joan Collins and, at the time, Lee Bergere. That same year, Haynes co-starred with Dean Stockwell and Joy Garrett in the TV movie Born to Be Sold. Haynes' last role was that of "Ken Morgan" on the soap opera General Hospital, from 1984 until his death from cancer in 1986. He was 52 years old.